protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
m_PhysicsConstraint.SetAxis(MiddleVRTools.FromUnity(Axis));
m_PhysicsConstraint.SetLowerLimit(m_Limits.Min);
m_PhysicsConstraint.SetUpperLimit(m_Limits.Max);
m_PhysicsConstraint.SetReferencePosition(m_ZeroPosition);
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(3, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the prismatic physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected bool AddConstraint()
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine == null)
{
return(false);
}
if (m_PhysicsConstraint == null)
{
return(false);
}
bool addedToSimulation = false;
// Cannot fail since we require this component.
VRPhysicsBody body0 = GetComponent <VRPhysicsBody>();
VRPhysicsBody body1 = null;
if (m_ConnectedBody != null)
{
body1 = m_ConnectedBody.GetComponent <VRPhysicsBody>();
}
if (body0.PhysicsBody != null)
{
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
m_PhysicsConstraint.SetPosition(MiddleVRTools.FromUnity(scaleShearMatrix * Anchor));
m_PhysicsConstraint.SetAxis0(MiddleVRTools.FromUnity(Axis0));
m_PhysicsConstraint.SetAxis1(MiddleVRTools.FromUnity(Axis1));
m_PhysicsConstraint.SetBody(0, body0.PhysicsBody);
m_PhysicsConstraint.SetBody(1, body1 != null ? body1.PhysicsBody : null);
addedToSimulation = physicsEngine.AddConstraint(m_PhysicsConstraint);
if (addedToSimulation)
{
MiddleVRTools.Log(3, "[ ] The constraint '" + m_PhysicsConstraintName +
"' was added to the physics simulation.");
}
else
{
MiddleVRTools.Log(0, "[X] Failed to add the constraint '" +
m_PhysicsConstraintName + "' to the physics simulation.");
}
}
else
{
MiddleVRTools.Log(0, "[X] The PhysicsBody of '" + name +
"' for the U-joint physics constraint '" + m_PhysicsConstraintName +
"' is null.");
}
return(addedToSimulation);
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// Do "+1" because "0" means "unknown attach point type".
uint attachPointType = (uint)m_AttachPointType + 1;
var scaleShearMatrix = MVRTools.ComputeScaleShearMatrixWorld(transform);
var offsetTrans = scaleShearMatrix * m_OffsetTranslation;
var offsetRot = Quaternion.Euler(m_OffsetRotation);
var attachManipDeviceToBodyPrmsValue = vrValue.CreateList();
attachManipDeviceToBodyPrmsValue.AddListItem(m_ManipulationDeviceId);
attachManipDeviceToBodyPrmsValue.AddListItem(physicsBodyId);
attachManipDeviceToBodyPrmsValue.AddListItem(attachPointType);
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetTrans));
attachManipDeviceToBodyPrmsValue.AddListItem(
MiddleVRTools.FromUnity(offsetRot));
kernel.ExecuteCommand(
"Haption.IPSI.AttachManipulationDeviceToBody",
attachManipDeviceToBodyPrmsValue);
}
}
protected void AttachOrDetachBody(bool doAttachement)
{
VRPhysicsBody physicsBodyComponent = GetComponent <VRPhysicsBody>();
if (physicsBodyComponent == null)
{
return;
}
vrPhysicsBody physicsBody = null;
if (MiddleVR.VRPhysicsMgr != null)
{
vrPhysicsEngine physicsEngine = MiddleVR.VRPhysicsMgr.GetPhysicsEngine();
if (physicsEngine != null)
{
// Prefer to find the object by its name so we won't access
// a dangling pointer when the body was destroyed by MiddleVR.
physicsBody = physicsEngine.GetBody(m_PhysicsBodyName);
}
}
if (physicsBody == null)
{
return;
}
var kernel = MiddleVR.VRKernel;
var physicsBodyId = physicsBody.GetId();
if (doAttachement)
{
// SetManipulationDevice (only attachment).
var setManipDeviceValues = vrValue.CreateList();
setManipDeviceValues.AddListItem(physicsBodyId);
setManipDeviceValues.AddListItem(m_ManipulationDeviceId);
kernel.ExecuteCommand(
"Haption.IPSI.SetManipulationDeviceId",
setManipDeviceValues);
}
// SetAttachedToAManipDevice (attachment or detachment).
var setAttachedToAManipDeviceValues = vrValue.CreateList();
setAttachedToAManipDeviceValues.AddListItem(physicsBodyId);
setAttachedToAManipDeviceValues.AddListItem(doAttachement);
kernel.ExecuteCommand(
"Haption.IPSI.SetAttachedToAManipulationDevice",
setAttachedToAManipDeviceValues);
}
protected void Start()
{
if (MiddleVR.VRPhysicsMgr == null)
{
MiddleVRTools.Log(0, "[X] ApplyForceTorqueSample: No PhysicsManager found.");
enabled = false;
return;
}
VRPhysicsBody body = GetComponent <VRPhysicsBody>();
m_RigidBody = body.PhysicsBody;
if (m_RigidBody == null)
{
MiddleVRTools.Log(0, "[X] ApplyForceTorqueSample: No rigid body given.");
enabled = false;
return;
}
m_MVREventListener = new vrEventListener(OnMVRNodeDestroy);
m_RigidBody.AddEventListener(m_MVREventListener);
}
